Interpolation Feeding With Position Detection (Latch: 38H) - Omron SJDE-ANA-OY Manual

4.2.27 Interpolation Feeding with Position Detection (LATCH: 38H)

Byte LATCH
Command
1 38H
2 LT_SGN
3 OPTION
4
5 TPOS
6
7
8
9 VFF
10
11
12
13 SEL_MON
1/2
14
15
16 WDT
17 For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Related Parameters
Parameter No.
Pn820
Pn822
Response
38H Processing clas-
sifications
ALARM Processing time
STATUS • Performs interpolation feeding and latches the position using the latch
signal specified in LT-SGN.
• If the latch signal is input, the position when the signal is received is
MONITOR1 recorded as the feedback latch position (LPOS) of the machine coordi-
nate system, and the LPOS will forcibly be indicated as the MONITOR2
for one communications cycle.
• Can be used during phase 3.
• A command warning will occur and the command will be ignored in the
following cases.
MONITOR2
-During phase 2: Command warning 1 (A.95A)
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-If the output speed [the target position (TPOS) - the current position
(IPOS)] exceeds the maximum speed: Data setting warning 2 (A.94B)
• LT_SGN can be used. Refer to 4.5.1 Latch Signal Field Specifications:
LT_SGN (LT_SGN).
SEL_MON
• OPTION field cannot be used. Set all bits to 0.
1/2
• Speed Feed Forward (VFF) cannot be used.
IO_MON
If a VFF is input, no compensation for speed feed forward will be
applied.
• Use DEN (output complete) to confirm the motion completion.
RWDT
• For details on interpolation, refer to 6.5.1 INTERPOLATE Related Com-
mands.
For sub-
commands.
Latching Area Upper Limit
Latching Area Lower Limit
Description
Motion com-
mand group
Within commu-
nications cycle
Description
83
4.2 Main Commands
Synchronization Synchronous
classifications
Subcommand Can be used